From cf0527df96e89503b94933cba834391a0f6406bf Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 10 Oct 2023 17:18:44 +0800
Subject: [PATCH] update

---
 .cproject                       |  10 +-
 .project                        |   2 +-
 .settings/language.settings.xml |   4 +-
 Core/Src/usart.c                |   2 +-
 flia_robot_arm_v1 Debug.launch  |  12 +-
 flia_robot_arm_v1.ioc           | 298 ----------------------------------------
 hbot_robot_controler.ioc        | 298 ++++++++++++++++++++++++++++++++++++++++
 sdk                             |   2 +-
 usrc/main.cpp                   |  82 +----------
 9 files changed, 320 insertions(+), 390 deletions(-)
 delete mode 100644 flia_robot_arm_v1.ioc
 create mode 100644 hbot_robot_controler.ioc

diff --git a/.cproject b/.cproject
index e97d743..6058b70 100644
--- a/.cproject
+++ b/.cproject
@@ -30,7 +30,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.176411214" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.164943344" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.553838709" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/flia_robot_arm_v1}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/hbot_robot_controler}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1243726437" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.1007535807" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.830905432" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
@@ -146,7 +146,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.506604305" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.540585524" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.959571701" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/flia_robot_arm_v1}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/hbot_robot_controler}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1716174684" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.401584422" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1470391345" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -221,7 +221,7 @@
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="flia_robot_arm_v1.null.1922813466" name="flia_robot_arm_v1"/>
+		<project id="hbot_robot_controler.null.1922813466" name="hbot_robot_controler"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
@@ -242,10 +242,10 @@
 	</storageModule>
 	<storageModule moduleId="refreshScope" versionNumber="2">
 		<configuration configurationName="Debug">
-			<resource resourceType="PROJECT" workspacePath="/flia_robot_arm_v1"/>
+			<resource resourceType="PROJECT" workspacePath="/hbot_robot_controler"/>
 		</configuration>
 		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/flia_robot_arm_v1"/>
+			<resource resourceType="PROJECT" workspacePath="/hbot_robot_controler"/>
 		</configuration>
 	</storageModule>
 </cproject>
\ No newline at end of file
diff --git a/.project b/.project
index 71807e9..42eecdb 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>flia_robot_arm_v1</name>
+	<name>hbot_robot_controler</name>
 	<comment></comment>
 	<projects>
 	</projects>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 48cb063..e2f20a3 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="995385305838657757" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-757377239583370659" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1008121162799773262" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-768987774897551282" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 765f366..284b650 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -43,7 +43,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 1500000;
+  huart1.Init.BaudRate = 1000000;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
diff --git a/flia_robot_arm_v1 Debug.launch b/flia_robot_arm_v1 Debug.launch
index 6353652..8cde4c2 100644
--- a/flia_robot_arm_v1 Debug.launch	
+++ b/flia_robot_arm_v1 Debug.launch	
@@ -12,7 +12,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/flia_robot_arm_v1.elf&quot;,&quot;fProjectName&quot;:&quot;flia_robot_arm_v1&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/hbot_robot_controler.elf&quot;,&quot;fProjectName&quot;:&quot;hbot_robot_controler&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
@@ -37,7 +37,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}\openocd.exe&quot;"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset halt&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset init&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\flia_robot_arm_v1 Debug.cfg"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\hbot_robot_controler Debug.cfg"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocdenable_rtos" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
@@ -47,7 +47,7 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\project_boditech_vidas_a8000_v2\flia_robot_arm_v1\Debug\st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\project_boditech_vidas_a8000_v2\hbot_robot_controler\Debug\st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="hardware_reset"/>
@@ -82,13 +82,13 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/flia_robot_arm_v1.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="flia_robot_arm_v1"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/hbot_robot_controler.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="hbot_robot_controler"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1853947771"/>
     <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/flia_robot_arm_v1"/>
+        <listEntry value="/hbot_robot_controler"/>
     </listAttribute>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
         <listEntry value="4"/>
diff --git a/flia_robot_arm_v1.ioc b/flia_robot_arm_v1.ioc
deleted file mode 100644
index ec264ee..0000000
--- a/flia_robot_arm_v1.ioc
+++ /dev/null
@@ -1,298 +0,0 @@
-#MicroXplorer Configuration settings - do not modify
-CAD.formats=
-CAD.pinconfig=
-CAD.provider=
-CAN1.ABOM=ENABLE
-CAN1.BS1=CAN_BS1_14TQ
-CAN1.BS2=CAN_BS2_3TQ
-CAN1.CalculateBaudRate=500000
-CAN1.CalculateTimeBit=2000
-CAN1.CalculateTimeQuantum=111.11111111111111
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,SJW,Prescaler,BS1,BS2,TTCM,ABOM,NART,RFLM,TXFP
-CAN1.NART=ENABLE
-CAN1.Prescaler=4
-CAN1.RFLM=ENABLE
-CAN1.SJW=CAN_SJW_3TQ
-CAN1.TTCM=ENABLE
-CAN1.TXFP=DISABLE
-Dma.Request0=USART2_RX
-Dma.Request1=USART2_TX
-Dma.RequestsNb=2
-Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART2_RX.0.Instance=DMA1_Stream5
-Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
-Dma.USART2_RX.0.Mode=DMA_NORMAL
-Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.USART2_RX.0.Priority=DMA_PRIORITY_LOW
-Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART2_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART2_TX.1.Instance=DMA1_Stream6
-Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART2_TX.1.MemInc=DMA_MINC_ENABLE
-Dma.USART2_TX.1.Mode=DMA_NORMAL
-Dma.USART2_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW
-Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU
-FREERTOS.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
-FREERTOS.configENABLE_FPU=1
-FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
-FREERTOS.configUSE_COUNTING_SEMAPHORES=1
-FREERTOS.configUSE_NEWLIB_REENTRANT=1
-FREERTOS.configUSE_RECURSIVE_MUTEXES=1
-File.Version=6
-GPIO.groupedBy=Group By Peripherals
-KeepUserPlacement=false
-Mcu.CPN=STM32F407VET6
-Mcu.Family=STM32F4
-Mcu.IP0=CAN1
-Mcu.IP1=CRC
-Mcu.IP10=TIM1
-Mcu.IP11=TIM3
-Mcu.IP12=TIM6
-Mcu.IP13=TIM7
-Mcu.IP14=USART1
-Mcu.IP15=USART2
-Mcu.IP16=USART3
-Mcu.IP2=DMA
-Mcu.IP3=FREERTOS
-Mcu.IP4=I2C1
-Mcu.IP5=NVIC
-Mcu.IP6=RCC
-Mcu.IP7=RNG
-Mcu.IP8=SPI1
-Mcu.IP9=SYS
-Mcu.IPNb=17
-Mcu.Name=STM32F407V(E-G)Tx
-Mcu.Package=LQFP100
-Mcu.Pin0=PH0-OSC_IN
-Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PB11
-Mcu.Pin11=PC9
-Mcu.Pin12=PA9
-Mcu.Pin13=PA10
-Mcu.Pin14=PA11
-Mcu.Pin15=PA12
-Mcu.Pin16=PA13
-Mcu.Pin17=PA14
-Mcu.Pin18=PB6
-Mcu.Pin19=PB7
-Mcu.Pin2=PC0
-Mcu.Pin20=VP_CRC_VS_CRC
-Mcu.Pin21=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin22=VP_RNG_VS_RNG
-Mcu.Pin23=VP_SYS_VS_tim11
-Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
-Mcu.Pin27=VP_TIM7_VS_ClockSourceINT
-Mcu.Pin3=PA2
-Mcu.Pin4=PA3
-Mcu.Pin5=PA5
-Mcu.Pin6=PA6
-Mcu.Pin7=PA7
-Mcu.Pin8=PC4
-Mcu.Pin9=PB10
-Mcu.PinsNb=28
-Mcu.ThirdPartyNb=0
-Mcu.UserConstants=
-Mcu.UserName=STM32F407VETx
-MxCube.Version=6.7.0
-MxDb.Version=DB.6.0.70
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
-NVIC.SavedPendsvIrqHandlerGenerated=true
-NVIC.SavedSvcallIrqHandlerGenerated=true
-NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
-NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
-NVIC.TimeBaseIP=TIM11
-NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-PA10.Mode=Asynchronous
-PA10.Signal=USART1_RX
-PA11.Locked=true
-PA11.Mode=CAN_Activate
-PA11.Signal=CAN1_RX
-PA12.Mode=CAN_Activate
-PA12.Signal=CAN1_TX
-PA13.Mode=Serial_Wire
-PA13.Signal=SYS_JTMS-SWDIO
-PA14.Mode=Serial_Wire
-PA14.Signal=SYS_JTCK-SWCLK
-PA2.Mode=Asynchronous
-PA2.Signal=USART2_TX
-PA3.Mode=Asynchronous
-PA3.Signal=USART2_RX
-PA5.Locked=true
-PA5.Mode=Full_Duplex_Master
-PA5.Signal=SPI1_SCK
-PA6.Locked=true
-PA6.Mode=Full_Duplex_Master
-PA6.Signal=SPI1_MISO
-PA7.Locked=true
-PA7.Mode=Full_Duplex_Master
-PA7.Signal=SPI1_MOSI
-PA9.Locked=true
-PA9.Mode=Asynchronous
-PA9.Signal=USART1_TX
-PB10.Mode=Asynchronous
-PB10.Signal=USART3_TX
-PB11.Mode=Asynchronous
-PB11.Signal=USART3_RX
-PB6.Mode=I2C
-PB6.Signal=I2C1_SCL
-PB7.Mode=I2C
-PB7.Signal=I2C1_SDA
-PC0.Locked=true
-PC0.Signal=GPXTI0
-PC4.Locked=true
-PC4.Signal=GPXTI4
-PC9.Locked=true
-PC9.Mode=Clock-out-2
-PC9.Signal=RCC_MCO_2
-PH0-OSC_IN.Mode=HSE-External-Oscillator
-PH0-OSC_IN.Signal=RCC_OSC_IN
-PH1-OSC_OUT.Mode=HSE-External-Oscillator
-PH1-OSC_OUT.Signal=RCC_OSC_OUT
-PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
-ProjectManager.BackupPrevious=false
-ProjectManager.CompilerOptimize=6
-ProjectManager.ComputerToolchain=false
-ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=false
-ProjectManager.DeviceId=STM32F407VETx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
-ProjectManager.FreePins=true
-ProjectManager.HalAssertFull=true
-ProjectManager.HeapSize=0x2000
-ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
-ProjectManager.LibraryCopy=1
-ProjectManager.MainLocation=Core/Src
-ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=STM32CubeIDE
-ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=flia_robot_arm_v1.ioc
-ProjectManager.ProjectName=flia_robot_arm_v1
-ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x1000
-ProjectManager.TargetToolchain=STM32CubeIDE
-ProjectManager.ToolChainLocation=
-ProjectManager.UAScriptAfterPath=
-ProjectManager.UAScriptBeforePath=
-ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-false-HAL-true
-RCC.48MHZClocksFreq_Value=48000000
-RCC.AHBFreq_Value=144000000
-RCC.APB1CLKDivider=RCC_HCLK_DIV4
-RCC.APB1Freq_Value=36000000
-RCC.APB1TimFreq_Value=72000000
-RCC.APB2CLKDivider=RCC_HCLK_DIV2
-RCC.APB2Freq_Value=72000000
-RCC.APB2TimFreq_Value=144000000
-RCC.CortexFreq_Value=144000000
-RCC.EthernetFreq_Value=144000000
-RCC.FCLKCortexFreq_Value=144000000
-RCC.FamilyName=M
-RCC.HCLKFreq_Value=144000000
-RCC.HSE_VALUE=8000000
-RCC.HSI_VALUE=16000000
-RCC.I2SClocksFreq_Value=64000000
-RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SN,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_MCO1Source,RCC_MCO2Source,RCC_MCODiv1,RCC_MCODiv2,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
-RCC.LSE_VALUE=32768
-RCC.LSI_VALUE=32000
-RCC.MCO1PinFreq_Value=36000000
-RCC.MCO2PinFreq_Value=16000000
-RCC.PLLCLKFreq_Value=144000000
-RCC.PLLI2SN=64
-RCC.PLLM=4
-RCC.PLLN=144
-RCC.PLLQ=6
-RCC.PLLQCLKFreq_Value=48000000
-RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
-RCC.RCC_MCO1Source=RCC_MCO1SOURCE_PLLCLK
-RCC.RCC_MCO2Source=RCC_MCO2SOURCE_PLLI2SCLK
-RCC.RCC_MCODiv1=RCC_MCODIV_4
-RCC.RCC_MCODiv2=RCC_MCODIV_4
-RCC.RTCFreq_Value=32000
-RCC.RTCHSEDivFreq_Value=4000000
-RCC.SYSCLKFreq_VALUE=144000000
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.VCOI2SOutputFreq_Value=128000000
-RCC.VCOInputFreq_Value=2000000
-RCC.VCOOutputFreq_Value=288000000
-RCC.VcooutputI2S=64000000
-SH.GPXTI0.0=GPIO_EXTI0
-SH.GPXTI0.ConfNb=1
-SH.GPXTI4.0=GPIO_EXTI4
-SH.GPXTI4.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
-SPI1.CalculateBaudRate=562.5 KBits/s
-SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
-SPI1.Mode=SPI_MODE_MASTER
-SPI1.VirtualType=VM_MASTER
-TIM1.IPParameters=Period,Prescaler
-TIM1.Period=9999
-TIM1.Prescaler=143
-TIM3.IPParameters=Prescaler,Period
-TIM3.Period=9999
-TIM3.Prescaler=71
-TIM6.IPParameters=Prescaler
-TIM6.Prescaler=71
-TIM7.IPParameters=Prescaler
-TIM7.Prescaler=81
-USART1.BaudRate=1500000
-USART1.IPParameters=VirtualMode,BaudRate
-USART1.VirtualMode=VM_ASYNC
-USART2.IPParameters=VirtualMode
-USART2.VirtualMode=VM_ASYNC
-USART3.BaudRate=9600
-USART3.IPParameters=VirtualMode,BaudRate
-USART3.VirtualMode=VM_ASYNC
-VP_CRC_VS_CRC.Mode=CRC_Activate
-VP_CRC_VS_CRC.Signal=CRC_VS_CRC
-VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
-VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
-VP_RNG_VS_RNG.Mode=RNG_Activate
-VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_tim11.Mode=TIM11
-VP_SYS_VS_tim11.Signal=SYS_VS_tim11
-VP_TIM1_VS_ClockSourceINT.Mode=Internal
-VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
-VP_TIM3_VS_ClockSourceINT.Mode=Internal
-VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
-VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
-VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
-VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
-VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
-board=custom
-rtos.0.ip=FREERTOS
-isbadioc=false
diff --git a/hbot_robot_controler.ioc b/hbot_robot_controler.ioc
new file mode 100644
index 0000000..01b7056
--- /dev/null
+++ b/hbot_robot_controler.ioc
@@ -0,0 +1,298 @@
+#MicroXplorer Configuration settings - do not modify
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
+CAN1.ABOM=ENABLE
+CAN1.BS1=CAN_BS1_14TQ
+CAN1.BS2=CAN_BS2_3TQ
+CAN1.CalculateBaudRate=500000
+CAN1.CalculateTimeBit=2000
+CAN1.CalculateTimeQuantum=111.11111111111111
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,SJW,Prescaler,BS1,BS2,TTCM,ABOM,NART,RFLM,TXFP
+CAN1.NART=ENABLE
+CAN1.Prescaler=4
+CAN1.RFLM=ENABLE
+CAN1.SJW=CAN_SJW_3TQ
+CAN1.TTCM=ENABLE
+CAN1.TXFP=DISABLE
+Dma.Request0=USART2_RX
+Dma.Request1=USART2_TX
+Dma.RequestsNb=2
+Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_RX.0.Instance=DMA1_Stream5
+Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART2_RX.0.Mode=DMA_NORMAL
+Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_RX.0.Priority=DMA_PRIORITY_LOW
+Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART2_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_TX.1.Instance=DMA1_Stream6
+Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_TX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART2_TX.1.Mode=DMA_NORMAL
+Dma.USART2_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+FREERTOS.FootprintOK=true
+FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU
+FREERTOS.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.configENABLE_FPU=1
+FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
+FREERTOS.configUSE_COUNTING_SEMAPHORES=1
+FREERTOS.configUSE_NEWLIB_REENTRANT=1
+FREERTOS.configUSE_RECURSIVE_MUTEXES=1
+File.Version=6
+GPIO.groupedBy=Group By Peripherals
+KeepUserPlacement=false
+Mcu.CPN=STM32F407VET6
+Mcu.Family=STM32F4
+Mcu.IP0=CAN1
+Mcu.IP1=CRC
+Mcu.IP10=TIM1
+Mcu.IP11=TIM3
+Mcu.IP12=TIM6
+Mcu.IP13=TIM7
+Mcu.IP14=USART1
+Mcu.IP15=USART2
+Mcu.IP16=USART3
+Mcu.IP2=DMA
+Mcu.IP3=FREERTOS
+Mcu.IP4=I2C1
+Mcu.IP5=NVIC
+Mcu.IP6=RCC
+Mcu.IP7=RNG
+Mcu.IP8=SPI1
+Mcu.IP9=SYS
+Mcu.IPNb=17
+Mcu.Name=STM32F407V(E-G)Tx
+Mcu.Package=LQFP100
+Mcu.Pin0=PH0-OSC_IN
+Mcu.Pin1=PH1-OSC_OUT
+Mcu.Pin10=PB11
+Mcu.Pin11=PC9
+Mcu.Pin12=PA9
+Mcu.Pin13=PA10
+Mcu.Pin14=PA11
+Mcu.Pin15=PA12
+Mcu.Pin16=PA13
+Mcu.Pin17=PA14
+Mcu.Pin18=PB6
+Mcu.Pin19=PB7
+Mcu.Pin2=PC0
+Mcu.Pin20=VP_CRC_VS_CRC
+Mcu.Pin21=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin22=VP_RNG_VS_RNG
+Mcu.Pin23=VP_SYS_VS_tim11
+Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin27=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin3=PA2
+Mcu.Pin4=PA3
+Mcu.Pin5=PA5
+Mcu.Pin6=PA6
+Mcu.Pin7=PA7
+Mcu.Pin8=PC4
+Mcu.Pin9=PB10
+Mcu.PinsNb=28
+Mcu.ThirdPartyNb=0
+Mcu.UserConstants=
+Mcu.UserName=STM32F407VETx
+MxCube.Version=6.7.0
+MxDb.Version=DB.6.0.70
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.ForceEnableDMAVector=true
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
+NVIC.SavedPendsvIrqHandlerGenerated=true
+NVIC.SavedSvcallIrqHandlerGenerated=true
+NVIC.SavedSystickIrqHandlerGenerated=true
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
+NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
+NVIC.TimeBaseIP=TIM11
+NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA10.Mode=Asynchronous
+PA10.Signal=USART1_RX
+PA11.Locked=true
+PA11.Mode=CAN_Activate
+PA11.Signal=CAN1_RX
+PA12.Mode=CAN_Activate
+PA12.Signal=CAN1_TX
+PA13.Mode=Serial_Wire
+PA13.Signal=SYS_JTMS-SWDIO
+PA14.Mode=Serial_Wire
+PA14.Signal=SYS_JTCK-SWCLK
+PA2.Mode=Asynchronous
+PA2.Signal=USART2_TX
+PA3.Mode=Asynchronous
+PA3.Signal=USART2_RX
+PA5.Locked=true
+PA5.Mode=Full_Duplex_Master
+PA5.Signal=SPI1_SCK
+PA6.Locked=true
+PA6.Mode=Full_Duplex_Master
+PA6.Signal=SPI1_MISO
+PA7.Locked=true
+PA7.Mode=Full_Duplex_Master
+PA7.Signal=SPI1_MOSI
+PA9.Locked=true
+PA9.Mode=Asynchronous
+PA9.Signal=USART1_TX
+PB10.Mode=Asynchronous
+PB10.Signal=USART3_TX
+PB11.Mode=Asynchronous
+PB11.Signal=USART3_RX
+PB6.Mode=I2C
+PB6.Signal=I2C1_SCL
+PB7.Mode=I2C
+PB7.Signal=I2C1_SDA
+PC0.Locked=true
+PC0.Signal=GPXTI0
+PC4.Locked=true
+PC4.Signal=GPXTI4
+PC9.Locked=true
+PC9.Mode=Clock-out-2
+PC9.Signal=RCC_MCO_2
+PH0-OSC_IN.Mode=HSE-External-Oscillator
+PH0-OSC_IN.Signal=RCC_OSC_IN
+PH1-OSC_OUT.Mode=HSE-External-Oscillator
+PH1-OSC_OUT.Signal=RCC_OSC_OUT
+PinOutPanel.RotationAngle=0
+ProjectManager.AskForMigrate=true
+ProjectManager.BackupPrevious=false
+ProjectManager.CompilerOptimize=6
+ProjectManager.ComputerToolchain=false
+ProjectManager.CoupleFile=true
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DefaultFWLocation=true
+ProjectManager.DeletePrevious=false
+ProjectManager.DeviceId=STM32F407VETx
+ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
+ProjectManager.FreePins=true
+ProjectManager.HalAssertFull=true
+ProjectManager.HeapSize=0x2000
+ProjectManager.KeepUserCode=true
+ProjectManager.LastFirmware=true
+ProjectManager.LibraryCopy=1
+ProjectManager.MainLocation=Core/Src
+ProjectManager.NoMain=false
+ProjectManager.PreviousToolchain=STM32CubeIDE
+ProjectManager.ProjectBuild=false
+ProjectManager.ProjectFileName=hbot_robot_controler.ioc
+ProjectManager.ProjectName=hbot_robot_controler
+ProjectManager.ProjectStructure=
+ProjectManager.RegisterCallBack=
+ProjectManager.StackSize=0x1000
+ProjectManager.TargetToolchain=STM32CubeIDE
+ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
+ProjectManager.UnderRoot=true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-false-HAL-true
+RCC.48MHZClocksFreq_Value=48000000
+RCC.AHBFreq_Value=144000000
+RCC.APB1CLKDivider=RCC_HCLK_DIV4
+RCC.APB1Freq_Value=36000000
+RCC.APB1TimFreq_Value=72000000
+RCC.APB2CLKDivider=RCC_HCLK_DIV2
+RCC.APB2Freq_Value=72000000
+RCC.APB2TimFreq_Value=144000000
+RCC.CortexFreq_Value=144000000
+RCC.EthernetFreq_Value=144000000
+RCC.FCLKCortexFreq_Value=144000000
+RCC.FamilyName=M
+RCC.HCLKFreq_Value=144000000
+RCC.HSE_VALUE=8000000
+RCC.HSI_VALUE=16000000
+RCC.I2SClocksFreq_Value=64000000
+RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SN,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_MCO1Source,RCC_MCO2Source,RCC_MCODiv1,RCC_MCODiv2,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
+RCC.LSE_VALUE=32768
+RCC.LSI_VALUE=32000
+RCC.MCO1PinFreq_Value=36000000
+RCC.MCO2PinFreq_Value=16000000
+RCC.PLLCLKFreq_Value=144000000
+RCC.PLLI2SN=64
+RCC.PLLM=4
+RCC.PLLN=144
+RCC.PLLQ=6
+RCC.PLLQCLKFreq_Value=48000000
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+RCC.RCC_MCO1Source=RCC_MCO1SOURCE_PLLCLK
+RCC.RCC_MCO2Source=RCC_MCO2SOURCE_PLLI2SCLK
+RCC.RCC_MCODiv1=RCC_MCODIV_4
+RCC.RCC_MCODiv2=RCC_MCODIV_4
+RCC.RTCFreq_Value=32000
+RCC.RTCHSEDivFreq_Value=4000000
+RCC.SYSCLKFreq_VALUE=144000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.VCOI2SOutputFreq_Value=128000000
+RCC.VCOInputFreq_Value=2000000
+RCC.VCOOutputFreq_Value=288000000
+RCC.VcooutputI2S=64000000
+SH.GPXTI0.0=GPIO_EXTI0
+SH.GPXTI0.ConfNb=1
+SH.GPXTI4.0=GPIO_EXTI4
+SH.GPXTI4.ConfNb=1
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
+SPI1.CalculateBaudRate=562.5 KBits/s
+SPI1.Direction=SPI_DIRECTION_2LINES
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
+SPI1.Mode=SPI_MODE_MASTER
+SPI1.VirtualType=VM_MASTER
+TIM1.IPParameters=Period,Prescaler
+TIM1.Period=9999
+TIM1.Prescaler=143
+TIM3.IPParameters=Prescaler,Period
+TIM3.Period=9999
+TIM3.Prescaler=71
+TIM6.IPParameters=Prescaler
+TIM6.Prescaler=71
+TIM7.IPParameters=Prescaler
+TIM7.Prescaler=81
+USART1.BaudRate=1500000
+USART1.IPParameters=VirtualMode,BaudRate
+USART1.VirtualMode=VM_ASYNC
+USART2.IPParameters=VirtualMode
+USART2.VirtualMode=VM_ASYNC
+USART3.BaudRate=9600
+USART3.IPParameters=VirtualMode,BaudRate
+USART3.VirtualMode=VM_ASYNC
+VP_CRC_VS_CRC.Mode=CRC_Activate
+VP_CRC_VS_CRC.Signal=CRC_VS_CRC
+VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
+VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
+VP_RNG_VS_RNG.Mode=RNG_Activate
+VP_RNG_VS_RNG.Signal=RNG_VS_RNG
+VP_SYS_VS_tim11.Mode=TIM11
+VP_SYS_VS_tim11.Signal=SYS_VS_tim11
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM3_VS_ClockSourceINT.Mode=Internal
+VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
+VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
+VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
+board=custom
+rtos.0.ip=FREERTOS
+isbadioc=false
diff --git a/sdk b/sdk
index d69f855..a2c4579 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit d69f8551a6307b256cb2917312e57e2949953db1
+Subproject commit a2c45792303627e55ee39039a587750f77354056
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 04c06d4..ef9e878 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -99,6 +99,7 @@ void umain() {
    *                            zcanBasicOrderModule                             *
    *******************************************************************************/
   zcanBasicOrderModule.initialize(&zcanCmder);
+#if 0
   zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
   zcanBasicOrderModule.reg_read_io(1, []() {
     ZLOGI(TAG, "read io 1");
@@ -108,6 +109,7 @@ void umain() {
     ZLOGI(TAG, "read adc 1");
     return 123;
   });
+#endif
 
   /*******************************************************************************
    *                            zcanXYRobotCtrlModule                            *
@@ -122,85 +124,13 @@ void umain() {
   input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
   input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
 
-#if 0
-  {
-    xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], 1.0f);
-    XYRobotCtrlModule::run_param_t param;
-    xyRobotCtrlModule.read_run_param(param);
-    param.robot_type     = XYRobotCtrlModule::corexy;
-    param.distance_scale = 1000;  // = 1.0
-    param.x_shaft        = false;
-    param.y_shaft        = false;
-    param.ihold          = 1;
-    param.irun           = 3;
-    param.maxspeed       = 1000000;
-    param.acc            = 3000000;
-    param.dec            = 3000000;
-    xyRobotCtrlModule.set_run_param(param);
-
-    XYRobotCtrlModule::run_to_zero_param_t run_to_zero_param;
-    xyRobotCtrlModule.read_run_to_zero_param(run_to_zero_param);
-    run_to_zero_param.move_to_zero_max_d    = 5120000;
-    run_to_zero_param.leave_from_zero_max_d = 5120000;
-    run_to_zero_param.speed                 = 30000;
-    run_to_zero_param.dec                   = 600000;
-    xyRobotCtrlModule.set_run_to_zero_param(run_to_zero_param);
-
-    zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
-  }
-  {
-    stepMotorCtrlModule.initialize(1, &motora, &input[6], NULL);
-    zcanStepMotorCtrlModule.initialize(&zcanCmder, 1, &stepMotorCtrlModule);
-  }
-#endif
-  extern DMA_HandleTypeDef hdma_usart2_rx;
-  extern DMA_HandleTypeDef hdma_usart2_tx;
-
-  FeiTeServoMotor servo;
-  servo.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx);
-  OSDefaultSchduler::getInstance()->regPeriodJob(
-      [&](OSDefaultSchduler::Context& context) {  //
-        // FeiTeServoMotor::status_t status = {0};
-        // servo.read_status(1, &status);
-        // servo.dump_status(&status);
-
-        // FeiTeServoMotor::detailed_status_t detailed_status = {0};
-        // servo.read_detailed_status(1, &detailed_status);
-        // servo.dump_detailed_status(&detailed_status);
-
-      },
-      1000);
-  //
-  servo.ping(1);
-  // servo.reCalibration(1, 1000);
-  // servo.moveTo(1, 4000, 0, 0);
-  // servo.moveWithTorque(1, -1000);
-  int16_t poscalibration = 0;
-  // servo.getServoCalibration(1, poscalibration);
-  // ZLOGI(TAG, "poscalibration:%d", poscalibration);
+  xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7]);
+  I_XYRobotCtrlModule::base_param_t base_param;
+  xyRobotCtrlModule.create_default_cfg(base_param);
+  xyRobotCtrlModule.set_base_param(base_param);
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
     zcanCmder.loop();
-
-// zcanCmder.sendPacket(data, 4);
-#if 0
-    static uint8_t  rxbuf[1024];
-    static uint16_t rxlen;
-    rxlen = 0;
-    HAL_UARTEx_ReceiveToIdle(&huart2, rxbuf, 1000, &rxlen, 1000);
-    if (rxlen > 0) {
-      for (size_t i = 0; i < rxlen; i++) {
-        printf("0x%02x ", rxbuf[i]);
-      }
-      printf("\n");
-    }
-#endif
-
-#if 0
-    osDelay(100);
-    ZLOGI(TAG, "input:%d %d %d %d %d %d %d %d",  //
-          input[0].getState(), input[1].getState(), input[2].getState(), input[3].getState(), input[4].getState(), input[5].getState(), input[6].getState(), input[7].getState());
-#endif
   }
 }